// Copyright (c) 2012, Willow Garage, Inc.
// Copyright (c) 2018, Bosch Software Innovations GmbH.
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#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__SWATCH_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__SWATCH_HPP_

#include <cstddef>
#include <string>

#include <OgreSharedPtr.h>
#include <OgrePrerequisites.h>
#include <OgreBlendMode.h>

#include "nav_msgs/msg/occupancy_grid.hpp"

#include "rviz_default_plugins/visibility_control.hpp"

namespace Ogre
{
class SceneManager;
class SceneNode;
class ManualObject;
}

namespace rviz_default_plugins
{
namespace displays
{
class MapDisplay;

class Swatch
{
public:
  RVIZ_DEFAULT_PLUGINS_PUBLIC
  Swatch(
    Ogre::SceneManager * scene_manager,
    Ogre::SceneNode * parent_scene_node,
    size_t x, size_t y, size_t width, size_t height,
    float resolution, bool draw_under);

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  ~Swatch();

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  void updateAlpha(
    const Ogre::SceneBlendType & sceneBlending, bool depth_write, float alpha);

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  void updateData(const nav_msgs::msg::OccupancyGrid & map);

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  void setVisible(bool visible);

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  void resetOldTexture();

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  void setRenderQueueGroup(uint8_t group);

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  void setDepthWriteEnabled(bool depth_write_enabled);

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  Ogre::Pass * getTechniquePass();

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  std::string getTextureName();

private:
  void setupMaterial();
  void resetTexture(Ogre::DataStreamPtr & pixel_stream);
  void setupSceneNodeWithManualObject();
  void setupSquareManualObject();
  void addPointWithPlaneCoordinates(float x, float y);

  static size_t material_count_;
  static size_t map_count_;
  static size_t node_count_;
  static size_t texture_count_;

  Ogre::SceneManager * scene_manager_;
  Ogre::SceneNode * parent_scene_node_;
  Ogre::SceneNode * scene_node_;
  Ogre::ManualObject * manual_object_;
  Ogre::TexturePtr texture_;
  Ogre::TexturePtr old_texture_;
  Ogre::MaterialPtr material_;
  size_t x_, y_, width_, height_;
};

}  // namespace displays
}  // namespace rviz_default_plugins

#endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__SWATCH_HPP_
